Using lumped mass model, we construct dynamic equation of the flexible arm as well as its Simulink model. Using Simulink model, we analyze how Coulomb friction, motor inertia and reduction ratio of gear affect system performance.

• 采用集中质量模型建立了柔性手臂的动力学方程及其Simulink模型,利用Simulink模型仿真分析了库仑摩擦力、电机转子惯量和齿轮减速比对系统性能的影响。